Merge pull request #6538 from DonLakeFlyer/CopterStartMission

Fix ArduCopter Start Mission support

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -987,8 +987,6 @@ void APMFirmwarePlugin::startMission(Vehicle* vehicle)
         return;
     }
 
-    if (vehicle->fixedWing()) {
-        // Fixed wing will automatically start a mission if you switch to Auto while armed
     if (!vehicle->armed()) {
         // First switch to flight mode we can arm from
         if (!_setFlightModeAndValidate(vehicle, "Guided")) {
@@ -1001,19 +999,13 @@ void APMFirmwarePlugin::startMission(Vehicle* vehicle)
             return;
         }
     }
-    } else {
-        // Copter will automatically start a mission from the ground if you change to Auto and do a START+MIS
-        if (!_setFlightModeAndValidate(vehicle, "Auto")) {
-            qgcApp()->showMessage(tr("Unable to start mission: Vehicle failed to change to Guided mode."));
-            return;
-        }
 
-        vehicle->sendMavCommand(vehicle->defaultComponentId(), MAV_CMD_MISSION_START, true /*show error */);
-    }
-
-    // Final step is to go into Auto
+    if (vehicle->fixedWing()) {
         if (!_setFlightModeAndValidate(vehicle, "Auto")) {
             qgcApp()->showMessage(tr("Unable to start mission: Vehicle failed to change to Auto mode."));
             return;
         }
+    } else {
+        vehicle->sendMavCommand(vehicle->defaultComponentId(), MAV_CMD_MISSION_START, true /*show error */);
+    }
 }